2 papers
cs.RO2026
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
Yutian Zhang, Siyuan Ma, Liwen Yang +6
Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-lev…
cs.CV2026
From Pairs to Sequences: Track-Aware Policy Gradients for Keypoint Detection
Yepeng Liu, Hao Li, Liwen Yang +8
Keypoint-based matching is a fundamental component of modern 3D vision systems, such as Structure-from-Motion (SfM) and SLAM. Most existing learning-based methods are trained on im…